A Study Of Laser Scanning Global Location Sensor

Using mobile robots of Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, the dissertation based on the realization of AGV (Autonomous Guides Vehicle) location function for industry, studied and developed the autonomous intelligent navigation system of autonomous mobile robot (AMR). The main results as follows:At first, we introduced the measuring theory and structure about laser global location system of AMR, which is developed by ourselves in details. After that, the methods of hardware and software design of the system are given.Then we mainly researched the stability of the sensor. We introduced particularly a series of methods for improving reliability, disturbance resistance, scanning scope and location precision, such as: using modulate laser, designing bandpass filter, zooming out signals and using a special circuit to get rid of disturbances. After that, the effective signals enter into the spring-circuit and touch off it, then the data register lock the codes, so the codes are read into single chip and are sent to the computer for the location.Finally, Many experiments about disturbance resistance, scanning scope and location precision have been done. The results demonstrate the effectiveness of the system. It is an ideal global location sensor for landmark scanning.